Stabilization of a rotating flexible structure subject to matched input disturbances

2019 ◽  
Vol 41 (10) ◽  
pp. 2864-2874
Author(s):  
Ya-Ping Guo ◽  
Jun-Min Wang
Keyword(s):  
Angular Velocity ◽  
Disturbance Rejection ◽  
Closed Loop ◽  
Torque Control ◽  
Flexible Structure ◽  
Closed Loop System ◽  
Active Disturbance Rejection ◽  
State Observers ◽  
Disturbance Rejection Control ◽  
The Stability

In this paper, we are concerned with nondissipative controllers design of a rotating flexible structure subject to boundary control matched disturbances. The active disturbance rejection control (ADRC) method is adopted to cancel the disturbances. Firstly, the time varying gain extend state observers (ESOs) are constructed to estimate the disturbances. Then, using estimates of uncertainties generated by ESOs, nondissipative torque control and shear control are designed for disk and beam respectively. Finally, when the angular velocity of the disk is less than the square root of the smallest natural frequency of the beam, we prove that the proposed controllers can ensure the stability of the closed-loop system in the sense that the disk can be rotated with the desired angular velocity and the beam can be stabilized. Moreover, simulation results are presented to illustrate the effectiveness of the control strategy.

Dynamic surface control and active disturbance rejection control-based integrated guidance and control design and simulation for hypersonic reentry missile

2016 ◽  
Vol 07 (03) ◽  
pp. 1650025 ◽  
Author(s):  
Cong Zhang ◽  
Yun-Jie Wu
Keyword(s):  
Disturbance Rejection ◽  
Closed Loop ◽  
Dynamic Surface Control ◽  
Closed Loop System ◽  
Dynamic Surface ◽  
Guidance And Control ◽  
Active Disturbance Rejection ◽  
Surface Control ◽  
Disturbance Rejection Control ◽  
And Control

This paper proposes a novel integrated guidance and control (IGC) method combining dynamic surface control (DSC) and active disturbance rejection control (ADRC) for the guidance and control system of hypersonic reentry missile (HRM) with bounded uncertainties. First, the model of HRM is established. Second, the proposed IGC method based on DSC and ADRC is designed. The stability of closed-loop system is proved strictly. It is worth mentioning that the ADRC technique is used to estimate and compensate the disturbance in the proposed IGC system. This makes the closed-loop system a better performance and reduces the chattering caused by lumped disturbances. Finally, a series of simulations and comparisons with a 6-DOF non-linear missile that includes all aerodynamic effects are demonstrated to illustrate the effectiveness and advantage of the proposed IGC method.

Stability and performance comparison analysis for linear active disturbance rejection control–based system

2022 ◽  
pp. 014233122110659
Author(s):  
Jia Song ◽  
Jiangcheng Su ◽  
Yunlong Hu ◽  
Mingfei Zhao ◽  
Ke Gao
Keyword(s):  
Disturbance Rejection ◽  
State Feedback ◽  
Closed Loop ◽  
Transfer Functions ◽  
State Feedback Control ◽  
Closed Loop System ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Parameter Perturbations ◽  
And Performance

This paper investigates the stability and performance of the linear active disturbance rejection control (LADRC)–based system with uncertainties and external disturbance via transfer functions and a frequency-domain view. The performance of LADRC is compared with the state-observer-based state feedback control (SOSFC) and state feedback control (SFC). First, the transfer functions and the error transfer functions for LADRC, SOSFC, and SFC are studied using the state-space method. It is proven that the LADRC-, SOSFC-, and SFC-based closed-loop systems have the same transfer function from the reference input to the output and achieve the same control effects for the nominal system. Then, it is proven for the first time that the LADRC has a better anti-interference ability than the SOSFC and SFC. Besides, the asymptotic stability condition of LADRC-based closed-loop system considering large parameter perturbations is given first. Moreover, the sensitivity analysis of the closed-loop system is carried out. The results show that the LADRC has stronger robustness under parameter perturbations. According to the results, we conclude that the LADRC is of great disturbance rejection ability and strong robustness.

scholarly journals Linear Active Disturbance Rejection Control of a Two-Degrees-of-Freedom Manipulator

2020 ◽  
Vol 2020 ◽  
pp. 1-19 ◽  
Author(s):  
Dawei Liu ◽  
Qinhe Gao ◽  
Zhixiang Chen ◽  
Zhihao Liu
Keyword(s):  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Active Disturbance Rejection Control ◽  
Dynamic Coupling ◽  
Closed Loop System ◽  
Two Degrees Of Freedom ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

This paper presents linear active disturbance rejection control (LADRC) for a two-degrees-of-freedom (2-DOF) manipulator system to achieve trajectory tracking. The system is widely used in engineering applications and exhibits the characteristics of high nonlinearity, strong coupling, and large uncertainty with two inputs and two outputs. First, the problem of dynamic coupling in the model of the 2-DOF manipulator is addressed by considering the dynamic coupling, model uncertainties, and external disturbances as total disturbances. Second, a linear extended state observer is designed to estimate the total disturbances, while a linear state error feedback control law is designed to compensate these disturbances. The main contribution is that the stability of the closed-loop system with two inputs and two outputs is analyzed, and the relationship between the performance of the closed-loop system and the controller parameters is established. The joint simulation of SolidWorks and Matlab/Simulink is conducted. The simulation and experimental results clearly indicate the superiority of LADRC over the PID for trajectory tracking and dynamic performance.

scholarly journals Active Disturbance Rejection Control for Position Tracking of Electro-Hydraulic Servo Systems under Modeling Uncertainty and External Load

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 20
Author(s):  
Manh Hung Nguyen ◽  
Hoang Vu Dao ◽  
Kyoung Kwan Ahn
Keyword(s):  
Angular Velocity ◽  
Disturbance Rejection ◽  
Lyapunov Theory ◽  
Tracking Performance ◽  
System Stability ◽  
Position Tracking ◽  
Parametric Uncertainties ◽  
Active Disturbance Rejection Control ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

In this paper, an active disturbance rejection control is designed to improve the position tracking performance of an electro-hydraulic actuation system in the presence of parametric uncertainties, non-parametric uncertainties, and external disturbances as well. The disturbance observers (Dos) are proposed to estimate not only the matched lumped uncertainties but also mismatched disturbance. Without the velocity measurement, the unmeasurable angular velocity is robustly calculated based on the high-order Levant’s exact differentiator. These disturbances and angular velocity are integrated into the control design system based on the backstepping framework which guarantees high-accuracy tracking performance. The system stability analysis is analyzed by using the Lyapunov theory. Simulations based on an electro-hydraulic rotary actuator are conducted to verify the effectiveness of the proposed control method.

Cascade active disturbance rejection control–based double closed-loop speed tracking control for automotive engine

2019 ◽  
Vol 21 (8) ◽  
pp. 1541-1554
Author(s):  
Meiyu Feng ◽  
Xiaohong Jiao ◽  
Zhong Wang
Keyword(s):  
Disturbance Rejection ◽  
Engine Speed ◽  
Closed Loop ◽  
Time Varying ◽  
Extended State ◽  
Set Point ◽  
Automotive Engine ◽  
Speed Controller ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control

To improve tracking performance of engine speed in the face of nonlinearity and time-varying uncertainty, this article investigates the double closed-loop cascade active disturbance rejection control strategy for automotive engine control system. In this cascade control arrangement, the outer active disturbance rejection speed controller with the extended state observer for the speed error and its integral, and disturbance from load torque and time-varying uncertainty, drives the set-point of the inner loop to keep the engine speed to its set-point; meanwhile, the inner active disturbance rejection pressure controller with the extended state observer for the pressure error and its integral, and disturbance from the air mass flow rate leaving the intake manifold and the pumping fluctuation of air charge, manages the throttle valve to match the pressure with the set-point requested by the outer active disturbance rejection speed controller. The observer gains and controller gains of active disturbance rejection speed controller and active disturbance rejection pressure controller are determined by the linear matrix inequalities ensuring the stability and disturbance attenuation level of the closed-loop system. The effectiveness is validated by implementing the proposed strategy and a series of related control schemes in the simulator of a real V6 engine.

Disturbance rejection control of airborne radar stabilized platform based on active disturbance rejection control inverse estimation algorithm

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Dong Mei ◽  
Zhu-Qing Yu
Keyword(s):  
Disturbance Rejection ◽  
Estimation Algorithm ◽  
Airborne Radar ◽  
Extended State ◽  
Content Type ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Inverse Estimation ◽  
The Stability ◽  
Stabilized Platform

Purpose This paper aims to study a disturbance rejection controller to improve the anti-interference capability and the position tracking performance of airborne radar stabilized platform that ensures the stability and clarity of synthetic aperture radar imaging. Design/methodology/approach This study proposes a disturbance rejection control scheme for an airborne radar stabilized platform based on the active disturbance rejection control (ADRC) inverse estimation algorithm. Exploiting the extended state observer (ESO) characteristic, an inversely ESO is developed to inverse estimate the unmodeled state and extended state of the platform system known as total disturbances, which greatly improves the estimation performance of the disturbance. Then, based on the inverse ESO result, feedback the difference between the output of the tracking differentiator and the inverse ESO result to the nonlinear state error feedback controller (NLSEF) to eliminate the effects of total disturbance and ensure the stability of the airborne radar stabilized platform. Findings Simulation experiments are adopted to compare the performance of the ADRC inverse estimation algorithm with that of the proportional integral derivative controller which is one of the mostly applied control schemes in platform systems. In addition, classical ADRC is compared as well. The results have shown that the ADRC inverse estimation algorithm has a better disturbance rejection performance when disturbance acts in airborne radar stabilized platform, especially disturbed by continuous airflow under some harsh air conditions. Originality/value The originality of this paper is exploiting the ESO characteristic to develop an inverse ESO, which greatly improves the estimation performance of the disturbance. And the ADRC inverse estimation algorithm is applied to ameliorate the anti-interference ability of the airborne radar stabilization platform, especially the ability to suppress continuous interference under complex air conditions.

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